control.friction_backlash_nonlinearity¶
- class control.friction_backlash_nonlinearity(b)¶
Bases:
DescribingFunctionNonlinearity
Backlash nonlinearity for describing function analysis.
This class creates a nonlinear function representing a friction-dominated backlash nonlinearity ,including the describing function for the nonlinearity. The following call creates a nonlinear function suitable for describing function analysis:
F = friction_backlash_nonlinearity(b)
This function maintains an internal state representing the ‘center’ of a mechanism with backlash. If the new input is within b/2 of the current center, the output is unchanged. Otherwise, the output is given by the input shifted by b/2.
Methods
Return the describing function for a nonlinearity.
- __call__(x)¶
Evaluate the nonlinearity at a (scalar) input value.
- describing_function(A)¶
Return the describing function for a nonlinearity.
This method is used to allow analytical representations of the describing function for a nonlinearity. It turns the (complex) value of the describing function for sinusoidal input of amplitude A.